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• An eco-driving control strategy is proposed for vehicles approaching a signalized intersection. • The discharge of the vehicle queue is modeled and predicted. • The proposed strategy is based on a computationally efficient iterative dynamic programming algorithm. • Monte-Carlo simulation using real-world traffic data is performed for in-depth energy efficiency analysis. • Energy-saving potential enabled by the proposed strategy is investigated for both internal combustion engine and electric vehicles. This paper takes into consideration of vehicle queues at the intersection and proposes an energy-efficient driving strategy to improve vehicle energy efficiency and overall traffic throughput in an urban traffic environment. The proposed strategy is applicable for both electric vehicle and internal combustion engine vehicle, and the control framework is formed by three sections, a vehicle queue discharge predictor, a spatial-domain optimal control strategy for energy consumption minimization, and a speed tracker with consideration of collision avoidance constraints. The former is based on the intelligent driver model, which predicts an accurate vehicle queue discharge time. Then the iterative dynamic programming is utilized to find the optimal solutions with fast computational speed. Finally, the optimal speed profile is followed by a Proportion-Integration controller while keeping a safe inter-vehicular distance. A Monte-Carlo simulation is designed to evaluate the energy efficiency of the proposed strategy in the stochastic traffic environment. Compared to the regular eco-approach and departure and constant speed strategies that lack awareness of the queue, significant energy saving can be achieved of the proposed strategy. In addition, three typical cases are selected to study the energy efficiency when the proposed strategy is applied to internal combustion engine and electric vehicles, respectively. The results show the energy efficiency of electric vehicles is less sensitive to the queuing effect at the intersection because of regenerative braking and the overall higher efficiency of the electric motor in contrast to the internal combustion engine, especially in stop-and-go scenarios. [ABSTRACT FROM AUTHOR]